Abstract: According to an embodiment, an article posture changing device includes: a first end effector configured to grasp a projected tag of an article by adsorption; an arm unit configured to support the first end effector and move the first end effector along at least a vertical direction; and a controller configured to control the arm unit and the first end effector to grasp the tag, lift the article upward, separate the article from a placement surface, change an angle of the article by weight thereof, move the article downward, place the article on the placement surface, and release the grasp of the tag.

Abstract: In embodiments, an automatic guided vehicle includes a vehicle, a lift unit, a bumper, an extension detector, and a bumper controller. The vehicle is movable in at least a first direction. The lift unit is provided in the vehicle and lifts an object from below the object. The bumper is provided in the vehicle and is extendable and contractible in the first direction. The extension detector detects that the bumper has extended outward from the object in the first direction. The bumper controller controls a state of the bumper according to a conveyance state of the object by the vehicle.

Abstract: According to one embodiment, an unmanned transport vehicle includes: a moving body capable of autonomously traveling on a floor surface and having a docking portion connecting to the object; a detection sensor capable of detecting an approach side support leg, wherein, of the plurality of support legs in the object, a pair of support legs located on a docking side of the moving body are designated as approach side support legs, and a pair of support legs located on a side opposite to a docking side in a traveling direction of the moving body is used as depth side support legs; and a control device connected to the moving body and a first detection sensor. The moving body has a height capable of entering a bottom space surrounded by a lower surface of the load plate of the object, the plurality of support legs, and the floor surface.

Abstract: According to one embodiment, an autonomous mobile robot has a driver, a first detector, a second detector, a localization estimation part, a route-generating part, and a control part. The localization estimation part is configured to calculate an estimated position of the autonomous mobile robot in a predetermined region in accordance with first data. The route-generating part is configured to calculate a position of an object present around the autonomous mobile robot in accordance with second data. The route-generating part is configured to calculate a route to a target position in accordance with the estimated position and the position of the object. The control part is configured to control the driver in accordance with the route. The control part is configured to cause the autonomous mobile robot to travel to the target position.

Abstract: An unmanned transport vehicle according to an embodiment includes a vehicle body, a moving mechanism, and an operation control device. The vehicle body is combinable with a transport object. The moving mechanism causes the vehicle body to be moved. The operation control device controls an operation of the moving mechanism. The operation control device includes a pseudo-reference position setter, a path acquirer, an operation command generator, and a driving controller. The pseudo-reference position setter sets a pseudo-reference position serving as an operation reference position of a combination structure of the vehicle body and the transport object to be different from a vehicle body reference position that is an operation reference position of the vehicle body. The path acquirer acquires a movement path from a current position of the combination structure to a target position.

Abstract: A mobile body, a control device, a surrounding object detector, and a monitoring device capable of controlling a safety system of a mobile body having an omnidirectional movement mechanism with a simple configuration are provided. A mobile body according to an embodiment includes drive wheels, a rotational velocity detector, an object detector, a controller, and a changer. The drive wheels are three or more drive wheels that allows the mobile body to move in all directions, and the respective drive wheels are driven independently. The rotational velocity detector detects respective rotational velocities of the drive wheels. The object detector detects an object around the mobile body. The controller decelerates or stops the mobile body when an object is detected in a monitoring area by the object detector. The changer changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector.

Abstract: A movable object includes: a vehicle body; a distance measurement part configured to measure a distance to a physical object; an orientation measurement part configured to measure an orientation angle of the vehicle body; and a control device connected to the distance measurement part and the orientation measurement part. The control device acquires a measurement value of a detection range from the distance measurement part, calculates a valid range of the detection range on the basis of the orientation angle acquired from the orientation measurement part, and invalidates the measurement value of an invalid range not included in the valid range.

Abstract: According to one embodiment, an object to be transported by an automatic guided transportation vehicle includes: a housing having an entry route through which the automatic guided transportation vehicle enters; a marker that can be recognized by a sensor provided in the automatic guided transportation vehicle; and a marker holder configured to hold the marker retractably at an initial position where the marker contacts with the automatic guided transportation vehicle in the entry route.

Abstract: According to one embodiment, a measuring apparatus includes an ultrasonic transmitter, an ultrasonic receiver and an estimator. An ultrasonic transmitter transmits, as a transmission signal, an ultrasonic beam in a plurality of directions. An ultrasonic receiver receives, as received signals, reflected waves of the transmission signal from the plurality of directions, one received signal including a plurality of reflected waves when the transmission signal is transmitted to one direction of the plurality of directions. An estimator that estimates range information from the received signals, based on preliminarily obtained received signals and a preliminarily obtained distance to an object.

Abstract: In embodiments, an automatic guided vehicle includes a vehicle, a lift unit, a bumper, an extension detector, and a bumper controller. The vehicle is movable in at least a first direction. The lift unit is provided in the vehicle and lifts an object from below the object. The bumper is provided in the vehicle and is extendable and contractible in the first direction. The extension detector detects that the bumper has extended outward from the object in the first direction. The bumper controller controls a state of the bumper according to a conveyance state of the object by the vehicle.

Abstract: According to one embodiment, transfer equipment includes: a first negative-pressure generation source; a plurality of first vacuum suction parts; a sensor part; and a first determination circuit. The sensor part configured to acquire a plurality of measured values corresponding to the negative pressure of each of the first vacuum suction parts. The first determination circuit configured to set a first threshold value based on the measured values and determine a vacuum suction state of the first vacuum suction parts corresponding to the measured valued based on the first threshold value and the measured values.

Abstract: According to an embodiment, a transfer apparatus includes a gripper, a first driving mechanism, an elastic passive joint part, a conveyor, a second driving mechanism, and base. The gripper grips an article. The first driving mechanism linearly moves the gripper in at least two directions including a first direction and a second direction intersecting with the first direction. The elastic passive joint part is interposed between the gripper and the first driving mechanism, and operates in accordance with an operation of the gripper. The conveyor conveys the article. The second driving mechanism linearly moves the conveyor in the at least two directions, and is connected to the conveyor. The base supports the first driving mechanism and the second driving mechanism.

Abstract: A mobile body, a control device, a surrounding object detector, and a monitoring device capable of controlling a safety system of a mobile body having an omnidirectional movement mechanism with a simple configuration are provided. A mobile body according to an embodiment includes drive wheels, a rotational velocity detector, an object detector, a controller, and a changer. The drive wheels are three or more drive wheels that allows the mobile body to move in all directions, and the respective drive wheels are driven independently. The rotational velocity detector detects respective rotational velocities of the drive wheels. The object detector detects an object around the mobile body. The controller decelerates or stops the mobile body when an object is detected in a monitoring area by the object detector. The changer changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector.

Abstract: In embodiments, a conveying apparatus includes a base, a wheel, a lifter, a lower side distance detection unit, and a control unit. The wheel is connected to the base via a suspension mechanism and is rotatable. The lifter is able to be lifted and lowered with respect to the base in a direction of a conveyance target. The lower side distance detection unit detects a lower side distance between a reference surface of the base and a ground contact surface of the wheel. The control unit controls a lifting/lowering operation of the lifter and rotative driving of the wheel. The control unit causes the lifter to be lifted and lowered based on the lower side distance and to support a part of a weight of the conveyance target, and causes the wheel to be rotatively driven and to convey the conveyance target.

Abstract: According to one embodiment, an unmanned transport vehicle includes a vehicle body, a connector, a bumper, and a bumper driver. The vehicle body includes a moving mechanism and a moving mechanism driver. The moving mechanism driver is configured to drive the moving mechanism. The connector is at the vehicle body and connectable to a transport-object. The bumper is adjacent to the vehicle body in a first direction. The bumper includes a collision detection sensor. The bumper is extendable and contractible in a second direction. The second direction intersects the first direction. The bumper driver is configured to extend and contract the bumper in the second direction by moving at least a portion of the bumper in the second direction.

Abstract: An unmanned transport vehicle according to an embodiment includes a vehicle body, a moving mechanism, and an operation control device. The vehicle body is combinable with a transport object. The moving mechanism causes the vehicle body to be moved. The operation control device controls an operation of the moving mechanism. The operation control device includes a pseudo-reference position setter, a path acquirer, an operation command generator, and a driving controller. The pseudo-reference position setter sets a pseudo-reference position serving as an operation reference position of a combination structure of the vehicle body and the transport object to be different from a vehicle body reference position that is an operation reference position of the vehicle body. The path acquirer acquires a movement path from a current position of the combination structure to a target position.

Abstract: According to an embodiment, an article posture changing device includes: a first end effector configured to grasp a projected tag of an article by adsorption; an arm unit configured to support the first end effector and move the first end effector along at least a vertical direction; and a controller configured to control the arm unit and the first end effector to grasp the tag, lift the article upward, separate the article from a placement surface, change an angle of the article by weight thereof, move the article downward, place the article on the placement surface, and release the grasp of the tag.

Abstract: A transporter includes: a first conveyor to receive an object, the first conveyor to convey the object in a first direction; and a second conveyor to receive the object from the first conveyor and to convey the object, the second conveyor being movable in position in a second direction that crosses the first direction, the second direction being a substantially vertical direction.

Abstract: A movement control system, a movement control device, and a program capable of generating a path corresponding to a more detailed surrounding environment are provided. A movement control system of an embodiment includes a first map generating unit and a second map generating unit. The first map generating unit generates first map information indicating a distribution of existence states related to a possibility of existence of a physical object on the basis of a position of the physical object measured by a measurement unit. The second map generating unit generates second map information indicating the existence state of the physical object of which a period during which the existence state is maintained up to a current time is within a predetermined period from the first map information.

Abstract: According to one embodiment, a transfer apparatus includes a base, a first linear motion member, a second linear motion member, a moving conveyor, an extraction arm, and a holding part. The first linear motion member is supported by the base and is movable in a first direction. The second linear motion member is supported by the first liner motion member and is movable in a second direction crossing the first direction. The moving conveyor is supported by the second linear motion member and includes a belt for conveying an article. The extraction arm is provided on a side of the moving conveyor, extracts the article and places the article on the belt. The holding part is provided at an end of the extraction arm and holds the article.